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The writers realised that when the original Apollo crew took off, only the descent module of the lander had remained. That's why a sign inside of the Lunar Lander that Fry and Leela enter explains why it was returned. However this is in contrast with Nixon saying that he staged the moon landing on Venus.

The Historical Sticklers Society thought that the lunar lander landed on the moon, as for the flag and footprints, the Historical Sticklers Society put those there too.